Control methods, media, and 3D printing feeding devices for rotary mating mechanisms

Abstract

A control method, medium, and 3D printing feeding device for a rotating mating mechanism are disclosed. The rotating mating mechanism is used to drive the loading or unloading mechanism of the 3D printing feeding device. The method includes: monitoring the driving state of the rotating mating mechanism; and controlling the rotating mating mechanism to swing according to a preset swing strategy when the driving state of the rotating mating mechanism is abnormal. This application monitors the driving state of the rotating mating mechanism and controls it to swing according to a preset swing strategy when the driving state is abnormal. This allows foreign objects to be shaken out of the rotating mating mechanism by the vibration of the swinging mechanism, or the rotating mating mechanism to separate from the loading or unloading mechanism. This increases the probability that the rotating mating mechanism will disengage from a "jammed" state, reducing manual intervention in the operation of the 3D printing feeding device and improving the stability of the 3D printing feeding device.

Description

Technical Field

[0001] This application relates to the field of 3D printing technology, specifically to a control method, medium, and 3D printing feeding device for a rotating mating mechanism. Background Technology

[0002] The 3D printing feeder is one of the core components of a 3D printing system. Its main function is to work with the 3D printing equipment to provide the raw materials needed for printing during the 3D printing process.

[0003] The 3D printing feeding device mainly includes a feeding mechanism or unloading mechanism and a rotating mechanism. The feeding mechanism is used to pull the filament out of the material tray and feed it into the 3D printing equipment. The unloading mechanism is used to rewind the filament in the 3D printing equipment onto the material tray, thereby preventing the filament from becoming loose and tangled.

[0004] Rotary coupling mechanisms are used to couple with loading or unloading mechanisms to provide kinetic energy for their movement, thereby driving them to complete loading or unloading operations. However, during the feeding process of 3D printing feeding devices, the rotary coupling mechanism is at risk of being jammed by foreign objects generated during printing or by the loading or unloading mechanism. How to free the rotary coupling mechanism from a "jammed" state and ensure the normal operation of the loading or unloading mechanism has become an urgent problem to be solved in the industry. Summary of the Invention

[0005] The purpose of this application is to provide a control method, medium, and 3D printing feeding device for a rotating mating mechanism, which aims to solve the problem that the rotating mating mechanism cannot get out of the "jammed" state after being stuck.

[0006] To achieve the objectives of this application, in a first aspect, this application provides a control method for a rotating engagement mechanism, the rotating engagement mechanism being used to drive the movement of the loading or unloading mechanism of a 3D printing feeding device, the control method for the rotating engagement mechanism comprising:

[0007] Monitor the driving status of the rotating engagement mechanism;

[0008] When the drive state of the rotation engagement mechanism is abnormal, the rotation engagement mechanism is controlled to swing according to a preset swing strategy.

[0009] In one possible implementation, the rotational engagement mechanism has a first position and a second position, and the oscillating strategy includes:

[0010] The rotational engagement mechanism is controlled to continuously oscillate between the first position and the second position at a preset oscillation frequency; or

[0011] The rotating engagement mechanism is controlled to swing between the first position and the second position for a preset time at a first preset swing frequency, and then stops. After a preset interval, the rotating engagement mechanism is controlled to swing between the first position and the second position for a preset time at a second preset swing frequency. The first preset swing frequency and the second preset swing frequency may be the same or different; or

[0012] The rotating engagement mechanism is controlled to swing between the first position and the second position for a first preset time at a preset swing frequency and then stops. After a preset interval after stopping, the rotating engagement mechanism is controlled to swing between the first position and the second position for a second preset time at a preset swing frequency. The first preset time and the second preset time are set to be the same or different.

[0013] In one possible implementation, the first position is closer to the feeding mechanism than the second position;

[0014] The rotating engagement mechanism first swings to the second position, and then swings to the first position.

[0015] In one possible implementation, the first position is closer to the feeding mechanism than the second position;

[0016] The rotating engagement mechanism first swings to the second position, and then swings to the first position.

[0017] In one possible implementation, the rotational engagement mechanism includes a swing arm assembly and a drive component, wherein the swing arm assembly is movably disposed within the feeding device of the 3D printing equipment;

[0018] The swing arm assembly has a loading position and a unloading position. In the loading position, at least a portion of the swing arm assembly is in contact with the loading mechanism and is drive-connected to the loading mechanism.

[0019] At the feeding position, at least a portion of the swing arm assembly is in contact with the feeding mechanism and is drive-connected to the feeding mechanism;

[0020] The first position and the second position are located between the loading position and the unloading position, and the driving member is used to drive the swing arm assembly to move between the loading position, the unloading position, the first position and the second position.

[0021] In one possible implementation, the oscillation strategy includes:

[0022] A voltage with a preset waveform is input to the driving component to control the driving component to drive the swing arm assembly to swing between the first position and the second position at a preset swing frequency; or

[0023] A voltage of a first preset waveform is input to the driving component and maintained for a preset time. After a preset interval, a voltage of a second preset waveform is input to the driving component and maintained for a preset time. The first preset waveform and the second preset waveform may be the same or different.

[0024] A voltage with a preset waveform is input to the driving device and maintained for a first preset time. After a preset interval, a voltage with a preset waveform is input to the driving device and maintained for a second preset time. The first preset time and the second preset time are set to be the same or different.

[0025] In one possible implementation, the swing arm assembly includes a transmission group and a swing arm, the transmission group being connected between the drive member and the swing arm; the transmission group is used to transmit power from the drive member to drive the swing arm to move between the loading position and the unloading position;

[0026] When the swing arm moves to the loading position, the swing arm contacts the loading mechanism and is connected to the loading mechanism in a transmission manner; when the swing arm moves to the unloading position, the swing arm contacts the unloading mechanism and is connected to the unloading mechanism in a transmission manner.

[0027] In one possible implementation, the transmission assembly includes a worm gear assembly and a drive shaft; the swing arm includes a loading swing arm and a unloading swing arm;

[0028] The drive shaft has a loading connection end and a unloading connection end arranged opposite to each other. The loading connection end is connected to the loading swing arm; the unloading connection end is connected to the unloading swing arm.

[0029] The worm gear assembly is connected between the transmission shaft and the driving component. The worm gear assembly is used to transmit power to the driving component to drive the transmission shaft to move between the loading position and the unloading position.

[0030] When the drive shaft moves to the loading position, the transmission assembly contacts the loading mechanism and drives the loading mechanism to move; when the drive shaft moves to the unloading position, the transmission assembly contacts the unloading mechanism and drives the unloading mechanism to move.

[0031] In one possible implementation, the transmission assembly includes a transmission wheel assembly and a transmission shaft; the swing arm includes a loading swing arm and a unloading swing arm.

[0032] The drive shaft has a loading connection end and a unloading connection end arranged opposite to each other. The loading connection end is connected to the loading swing arm; the unloading connection end is connected to the unloading swing arm.

[0033] The transmission wheel assembly is connected between the transmission shaft and the driving component. The transmission wheel assembly is used to transmit power to the driving component to drive the transmission shaft to move between the loading position and the unloading position.

[0034] When the drive shaft moves to the loading position, the transmission assembly contacts the loading mechanism and drives the loading mechanism to move; when the drive shaft moves to the unloading position, the transmission assembly contacts the unloading mechanism and drives the unloading mechanism to move.

[0035] In one possible implementation, the drive element has an output shaft that is drivenly connected to the rotational engagement mechanism; an abnormal drive state of the rotational engagement mechanism includes the loading swing arm contacting the loading structure while the unloading swing arm is in contact with the unloading mechanism.

[0036] In one possible implementation, the swing arm assembly includes a transmission group and a swing arm, a portion of which is configured to engage with the transmission group so that the power of the drive member can be applied to the feeding mechanism to achieve feeding.

[0037] Another part of the swing arm is used to cooperate with the transmission group so that the power of the drive member can be applied to the unloading mechanism to realize unloading;

[0038] The driving component includes a first driving component and a second driving component; the transmission assembly includes a transmission shaft and a transmission wheel; the swing arm includes a loading swing arm and a unloading swing arm; the first driving component and the swing arm are drivenly connected; the second transmission shaft is connected between the second driving component and the swing arm; and the transmission wheel is located on the second transmission shaft.

[0039] When the 3D printing feeding device feeds material, the first driving member drives the feeding swing arm to contact the transmission wheel, and the power of the second driving member is transmitted to the feeding mechanism via the second driving shaft, the transmission wheel and the feeding swing arm to drive the feeding mechanism to feed material.

[0040] When the 3D printing feeding device is feeding material, the first driving member drives the unloading swing arm to be misaligned with the transmission wheel, and the power of the second driving member is transmitted to the feeding swing arm via the second driving shaft, and drives the feeding mechanism to feed material.

[0041] The distance from the contact point between the feeding swing arm and the feeding mechanism to the hinge point connecting the feeding swing arm and the transmission shaft is L1, where 3mm ≤ L1 ≤ 16mm; and / or

[0042] The distance from the contact point between the unloading swing arm and the unloading mechanism to the hinge point connecting the unloading swing arm and the transmission shaft is L2, where 3mm ≤ L2 ≤ 16mm.

[0043] In one possible implementation, the distance from the contact point between the feeding swing arm and the feeding mechanism to the connection hinge point between the feeding swing arm and the drive shaft is L1, where 5mm≤L1≤12mm;

[0044] The distance from the contact point between the unloading swing arm and the unloading mechanism to the hinge point connecting the unloading swing arm and the transmission shaft is L2, where 5mm≤L2≤12mm.

[0045] In one possible implementation, the preset waveform is a sine wave, and the frequency of the sine wave is Z, where 3Hz≤Z≤30Hz.

[0046] In one possible implementation, the preset waveform is a sine wave, and the frequency of the sine wave is Z, where 5Hz≤Z≤12Hz.

[0047] In one possible implementation, the drive element has an output shaft that is drivenly connected to the rotational engagement mechanism; abnormal drive states of the rotational engagement mechanism include:

[0048] The output shaft rotates at zero speed; and / or

[0049] The voltage of the driving component reaches a preset voltage range.

[0050] Secondly, this application also proposes a storage medium storing a swing arm control program, which is executed by a controller to implement a control method for a rotational engagement mechanism. The control method for the rotational engagement mechanism includes:

[0051] Monitor the driving status of the rotating engagement mechanism;

[0052] When the drive state of the rotation engagement mechanism is abnormal, the rotation engagement mechanism is controlled to swing according to a preset swing strategy.

[0053] Thirdly, this application also proposes a 3D printing feeding device, which includes a controller and a memory. The memory stores computer instructions, and the controller invokes the computer instructions to execute a control method for a rotating mating mechanism. The control method for the rotating mating mechanism includes:

[0054] Monitor the driving status of the rotating engagement mechanism;

[0055] When the drive state of the rotation engagement mechanism is abnormal, the rotation engagement mechanism is controlled to swing according to a preset swing strategy.

[0056] This application monitors the driving state of the rotating engagement mechanism and controls the rotating engagement mechanism to swing in a preset swing strategy when the driving state of the rotating engagement mechanism is abnormal. This swinging vibration of the rotating engagement mechanism shakes foreign objects out of the rotating engagement mechanism or separates the rotating engagement mechanism from the feeding or unloading mechanism, thereby making it possible for the rotating engagement mechanism to disengage from the "jammed" state. This reduces manual intervention in the operation of the 3D printing feeding device and improves the stability of the 3D printing feeding device. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0058] Figure 1 A schematic diagram of an embodiment of a 3D printing feeding device provided in this application;

[0059] Figure 2 for Figure 1 Schematic diagram of the feeding mechanism;

[0060] Figure 3 for Figure 2 Enlarged view at point A;

[0061] Figure 4 for Figure 1 Schematic diagram of the feeding mechanism;

[0062] Figure 5 for Figure 1 Schematic diagram of the rotating engagement mechanism;

[0063] Figure 6 A schematic flowchart of an embodiment of the control method for the rotational mating mechanism provided in this application;

[0064] Figure 7 This is a schematic diagram of the hardware operating environment involved in the proposed solution.

[0065] Explanation of reference numerals in the attached figures:

[0066] 1000-3D printing feeding device;

[0067] 1-Hopper, 11-Receiving cavity, 111-Material guide channel;

[0068] 2-Pack;

[0069] 3-Loading / unloading mechanism, 31-Loading mechanism, 311-Drive wheel, 312-Driven wheel, 313-Clearance, 32-Unloading mechanism, 321-Drive shaft;

[0070] 4-Rotating engagement mechanism, 41-Swing arm assembly, 411-Swing arm, 4111-Swing arm rod, 4112-Driving swing arm wheel, 4113-Driven swing arm wheel, 412-Transmission assembly, 4121-Worm gear assembly, 41211-Worm gear, 41212-Worm, 4122-Transmission shaft, 42-Drive component, 43-Loading swing arm, 44-Unloading swing arm;

[0071] 1001 - Controller, 1002 - Communication bus, 1003 - User interface, 1004 - Network interface, 1005 - Memory. Detailed Implementation

[0072] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0073] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0074] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0075] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0076] Please refer to Figures 1 to 4 This application discloses a 3D printing feeding device 1000, which is used to cooperate with a 3D printing device to provide the raw materials required for printing during the 3D printing process. In some embodiments, the 3D printing feeding device 1000 includes a hopper 1, a material tray 2, a loading and unloading mechanism 3, and a rotating engagement mechanism 4.

[0077] The hopper 1 serves as the main structural component of the 3D printing feeding device 1000, supporting and connecting the various component assemblies of the 3D printing feeding device 1000. The hopper 1 has a receiving cavity 11 for accommodating filament, and a guiding channel 111 is formed within the receiving cavity 11. One end of the guiding channel 111 is connected to the receiving cavity 11, and the other end is connected to the extrusion head of the 3D printing equipment. The filament can enter the extrusion head of the 3D printing equipment through the guiding channel 111 and be extruded onto the printing platform of the 3D printing equipment.

[0078] The material tray 2 is rotated and placed within the receiving cavity 11. Wire is wound around the material tray 2, and the wire tip is installed within the guide channel 111. The number of material trays 2 can be one or more; this application does not limit this. Considering that multiple types of wire are often required during the printing process of a model, in one embodiment of this application, the 3D printing feeding device 1000 includes multiple material trays 2, and correspondingly, the receiving cavity 11 is provided with multiple guide channels 111 corresponding to the number of material trays 2.

[0079] The loading and unloading mechanism 3 is installed on the hopper 1. The loading and unloading mechanism 3 drives the filament material from the guide channel 111 into the 3D printing equipment, or rewinds it onto the tray 2 via the guide channel 111. In some embodiments, the loading and unloading mechanism 3 includes a loading mechanism 31 and a unloading mechanism 32. The loading mechanism 31 drives the filament material from the guide channel 111 into the 3D printing equipment to load the 3D printing equipment. The unloading mechanism 32 drives the filament material out of the guide channel 111 and rewinds it onto the tray 2, thereby preventing the filament material from becoming loose and tangled, ensuring that the filament material can be loaded normally.

[0080] Please refer to Figure 2 and Figure 3 In some embodiments, the feeding mechanism 31 includes a drive wheel 311 and a driven wheel 312. The drive wheel 311 and the driven wheel 312 are rotatably connected to the hopper 1 and extend at least partially into the guide channel 111. A gap 313 exists between the drive wheel 311 and the driven wheel 312, and the filament can extend into the gap 313 and contact the drive wheel 311 and the driven wheel 312. The rotational engagement mechanism 4 can drive the driven wheel 312 to rotate by driving the drive wheel 311 to rotate, and ultimately drive the filament located between the drive wheel 311 and the driven wheel 312 to move towards the 3D printing equipment, thus completing the feeding of the 3D printing equipment.

[0081] Please refer to Figure 4In some embodiments, the feeding mechanism 32 includes a drive shaft 321 that contacts the outer peripheral surface of the tray 2. The rotational engagement mechanism 4 can drive the drive shaft 321 to rotate, thereby causing the tray 2, which is in contact with the drive shaft 321, to rotate in the winding direction, so that the wire material is ejected from the guide channel 111 and rewound onto the tray 2, thus completing the unloading of the wire material.

[0082] Please refer to Figure 5 The rotating engagement mechanism 4 is used to contact the feeding mechanism 31 or the unloading mechanism 32, thereby driving the feeding mechanism 31 or the unloading mechanism 32 to move. In some embodiments, the rotating engagement mechanism 4 includes a swing arm assembly 41 and a drive member 42. The swing arm assembly 41 is movably disposed within the feeding device of the 3D printing equipment. The swing arm assembly 41 has a feeding position and a unloading position. In the feeding position, at least a portion of the swing arm assembly 41 contacts the feeding mechanism 31 and drives the feeding mechanism 31 to feed material. In the unloading position, at least a portion of the swing arm assembly 41 contacts the unloading mechanism 32 and drives the unloading mechanism 32 to unload material.

[0083] The drive component 42 is used to drive the swing arm assembly 41 to move between the loading and unloading positions. The power of the drive component 42 can be transmitted to the loading mechanism 31 or the unloading mechanism 32 via the swing arm assembly 41, thereby driving the loading mechanism 31 or the unloading mechanism 32 to move. The drive component 42 can be a motor, a cylinder, or other transmission structure, and this application does not limit it in this regard.

[0084] In some embodiments, the swing arm assembly 41 includes a swing arm 411 and a transmission group 412. The transmission group 412 is connected between the drive member 42 and the swing arm 411. The transmission group 412 is used to transmit the power of the drive member 42 to drive the swing arm 411 to move between the loading position and the unloading position, and at the same time drive the swing arm 411 to drive the loading mechanism 31 and the unloading mechanism 32 to move.

[0085] Specifically, in some embodiments, the swing arm 411 includes a swing arm rod 4111 and an active swing arm wheel 4112 and a driven swing arm wheel 4113 rotatably connected to the swing arm rod 4111. The active swing arm wheel 4112 and the driven swing arm wheel 4113 are in contact with each other and are connected to the transmission group 412. The active swing arm wheel 4112 can rotate under the action of the transmission group 412, and drive the swing arm rod 4111 and the driven swing arm wheel 4113 to move between the loading position and the unloading position. When the swing arm assembly 41 moves to the loading position, the driven swing arm wheel 4113 contacts the drive wheel 311 of the loading mechanism 31. The power of the driving member 42 can be transmitted to the drive wheel 311 through the transmission group 412, the active swing arm wheel 4112 and the driven swing arm wheel 4113, thereby driving the drive wheel 311 to rotate, thereby realizing the loading of wire.

[0086] When the swing arm assembly 41 moves to the unloading position, the driven swing arm wheel 4113 contacts the drive shaft 321 of the unloading mechanism 32. The power of the drive component 42 can be transmitted to the drive shaft 321 through the transmission group 412, the active swing arm wheel 4112 and the driven swing arm wheel 4113. Then, the drive shaft 321 drives the material tray 2 to rewind the wire material inward, thereby completing the unloading of the wire material.

[0087] The transmission assembly 412 can have various structural forms. In some embodiments, the transmission assembly 412 includes a worm gear assembly 4121 and a drive shaft 4122. The worm gear assembly 4121 includes at least one meshing worm gear 41211 and worm 41212. The worm gear 41211 is connected to the drive shaft 4122, and the worm 41212 is connected to the drive member 42. The worm 41212 is arranged along the direction from the loading position to the unloading position, or from the unloading position to the loading position. The power of the drive member 42 can be transmitted to the worm gear 41211 via the worm 41212, driving the worm gear 41211 and the drive shaft 4122 connected to the worm gear 41211 to move between the loading position and the unloading position, while simultaneously driving the worm gear 41211 and the drive shaft 4122 to rotate. The drive shaft 4122 moves and rotates, driving the active swing arm wheel 4112 to move and rotate, thereby driving the feeding mechanism 31 or the unloading mechanism 32.

[0088] In some other embodiments, the transmission assembly may also include a transmission wheel assembly and a transmission shaft. The transmission wheel assembly is connected between the drive member and the transmission shaft. The transmission wheel assembly is used to transmit the power of the drive member to drive the transmission shaft to move between the loading position and the unloading position, and at the same time drive the transmission shaft to rotate. In turn, the movement and rotation of the transmission shaft drive the movement and rotation of the active swing arm wheel, thereby realizing the drive of the loading mechanism or the unloading mechanism.

[0089] It should be noted that the driving swing arm wheel 4112 and the driven swing arm wheel 4113 mentioned above can be gears, friction wheels, or one can be a gear and the other a friction wheel. The transmission wheel set can be a transmission gear set, a transmission friction wheel set, or a wheel set formed by a combination of gears and friction. The driving wheel 311 and the driven wheel 312 of the feeding mechanism 31 can be gears, friction wheels, or one can be a gear and the other a friction wheel; this application does not impose any restrictions on this.

[0090] It should be noted that the swing arm 411 refers to a mechanism that has a contact position around a rotation axis and at other positions away from the rotation axis. The structure of the swing arm 411 can be a rod, an arm, or a rotating body such as a cam or a roller.

[0091] In some embodiments, the swing arm 411 can be a single swing arm structure. When the swing arm 411 is a single swing arm structure, it can move between the loading position and the unloading position under the drive of the transmission group 412. When the swing arm moves to the loading position, it contacts the loading mechanism and drives the loading mechanism 31 to move. When the swing arm moves to the unloading position, it contacts the unloading mechanism and drives the unloading mechanism 32 to move.

[0092] In some embodiments, the swing arm 411 can also be a double swing arm structure. In this case, the drive shaft 4122 has a loading connection end and a unloading connection end arranged opposite to each other. The swing arm 411 includes a loading swing arm 43 and a unloading swing arm 44. The loading swing arm 43 is connected to the loading connection end of the drive shaft 4122, and the unloading swing arm 44 is connected to the unloading connection end of the drive shaft 4122. When the drive shaft 4122 moves to the loading position, the loading swing arm 43 contacts the loading mechanism 31 and drives the loading mechanism 31 to load materials. When the drive shaft 4122 moves to the unloading position, the loading swing arm 43 separates from the loading mechanism 31, and the unloading swing arm 44 contacts the unloading mechanism 32, thereby driving the unloading mechanism 32 to unload materials.

[0093] In some embodiments, the swing arm can also be a roller structure. When the swing arm is a roller structure, a portion of the swing arm is used to cooperate with the transmission assembly so that the power of the driving member can act on the feeding mechanism to achieve feeding; another portion of the swing arm is used to cooperate with the transmission assembly so that the power of the driving member can act on the unloading mechanism to achieve unloading. Specifically, in this embodiment, the driving member includes a first driving member and a second driving member, the transmission assembly includes a transmission shaft and a transmission wheel, the swing arm includes a feeding swing arm and a unloading swing arm, the first driving member is connected to the swing arm rod of the swing arm and can drive the unloading swing arm and the feeding swing arm to rotate, the first driving member and the swing arm are drivenly connected, the second transmission shaft is connected between the second driving member and the swing arm, and the feeding swing arm can cooperate with the feeding mechanism. The transmission wheel is located on the second transmission shaft.

[0094] When the 3D printing feeding device unloads material, the first driving component drives the swing arm to rotate, and the active swing arm wheel on the swing arm rod of the unloading swing arm contacts the transmission wheel, and the driven swing arm wheel contacts the drive shaft of the unloading mechanism. The power of the second driving component is transmitted to the material tray through the second drive shaft, transmission wheel, active swing arm wheel, driven swing arm wheel and drive shaft, thereby driving the material tray to rewind the wire material, thus realizing the unloading of the 3D printing feeding device.

[0095] When the 3D printing feeding device is feeding material, the first driving component drives the swing arm to rotate, and the active swing arm wheel on the swing arm rod of the unloading swing arm is displaced from the transmission wheel. The driven wheel on the swing arm rod of the loading swing arm cooperates with the driving wheel to clamp the 3D printed filament. The power of the second driving component is transmitted to the driving wheel and driven wheel of the loading swing arm through the second driving shaft. The driving wheel and driven wheel of the loading swing arm pull the 3D printed filament to move into the feeding channel, thereby realizing the feeding of the 3D printing feeding device.

[0096] To reduce the size of the 3D printing feeding device 1000, the loading and unloading positions are often close together. This can lead to situations where, under certain conditions, the loading arm 43 may not have time to separate from the loading mechanism 31 before the unloading arm 44 comes into contact with the unloading mechanism 32, causing the rotational engagement mechanism 4 to become "jammed". Alternatively, under certain conditions, waste material generated by 3D printing may enter the drive component 42 or the arm (which can be a single or double arm structure), hindering the normal operation of the rotational engagement mechanism 4 and causing it to become "jammed".

[0097] To address the aforementioned issues, in some embodiments of this application, the 3D printing feeding device 1000 further includes a controller and a memory. The memory stores a control method for the rotational mating mechanism 4, and the controller is used to call the control method for the rotational mating mechanism 4 stored in the memory to control the movement of the rotational mating mechanism 4.

[0098] Please refer to Figure 6 The control methods for rotating mating mechanisms include:

[0099] S10. Monitor the driving status of the rotating mechanism.

[0100] S20. When the drive state of the rotational engagement mechanism is abnormal, control the rotational engagement mechanism to swing according to a preset swing strategy.

[0101] This application monitors the driving state of the rotating engagement mechanism and controls the rotating engagement mechanism to swing in a preset swing strategy when the driving state of the rotating engagement mechanism is abnormal. This swinging vibration of the rotating engagement mechanism shakes foreign objects out of the rotating engagement mechanism or separates the rotating engagement mechanism from the feeding or unloading mechanism, thereby making it possible for the rotating engagement mechanism to disengage from the "jammed" state. This reduces manual intervention in the operation of the 3D printing feeding device and improves the stability of the 3D printing feeding device.

[0102] It should be noted that the abnormal drive state of the rotation engagement mechanism refers to the swing arm assembly getting stuck during the swinging process, or the swing assembly getting stuck in engagement with the feeding mechanism or the unloading mechanism, or when the swing arm of the swing arm assembly is a double swing arm structure, the feeding swing arm is in contact with the feeding structure while the unloading swing arm is in contact with the unloading mechanism. This application does not impose any restrictions on this.

[0103] There are various ways for the controller to monitor the drive status of the rotating engagement mechanism to determine whether the drive status is abnormal. In some embodiments, the controller can monitor the rotational speed of the output shaft of the drive component to monitor the drive status of the rotating engagement mechanism, thereby determining whether the oscillation of the rotating engagement mechanism is abnormal. Specifically, the drive component has an output shaft, which is driven and connected to the rotating engagement mechanism. When the rotating engagement mechanism oscillates normally, the output shaft of the drive component will rotate at a rated speed. When the rotating engagement mechanism is stuck, the rotation of the output shaft of the drive component is "blocked," and the speed of the output shaft is zero. At this time, if the controller does not receive a stop command, and the speed of the output shaft of the drive component suddenly drops to zero, the controller can determine that the oscillation of the rotating engagement mechanism is abnormal, and then control the rotating engagement mechanism to oscillate according to a preset oscillation strategy. This allows the rotating engagement mechanism to potentially disengage from the "stuck" state, reducing manual intervention in the operation of the 3D printing feeding device and improving the stability of the 3D printing feeding device.

[0104] There are several ways for a controller to monitor the output shaft speed. The controller can monitor the output shaft speed by using a Hall sensor installed on the output shaft, or by using an encoder set on the output shaft. The controller can count the number of pulse signals generated by the grating disk on the output shaft per unit time to obtain the output shaft speed. This application does not limit this method.

[0105] In addition, in other possible implementations, the controller can monitor the driving state of the rotary mating mechanism by monitoring the voltage of the driving component, thereby determining whether the oscillation of the rotary mating mechanism is abnormal. Specifically, when the rotary mating mechanism is operating normally, the voltage of the driving component fluctuates within the rated range. When the rotary mating mechanism is stuck, the output shaft of the driving component is "blocked," and the voltage of the driving component rises. At this time, it is only necessary to record the voltage range after the rise and set it as a preset voltage range. When the controller detects that the voltage of the driving component reaches the preset voltage range, the controller can determine that the rotary mating mechanism is "stuck," and then control the rotary mating mechanism to oscillate according to a preset oscillation strategy, so that the rotary mating mechanism has a probability of disengaging from the "stuck" state, reducing manual intervention in the operation of the 3D printing feeding device and improving the stability of the 3D printing feeding device operation.

[0106] There are various swing strategies for the rotary engagement mechanism. In some embodiments, the rotary engagement mechanism has a first position and a second position. When the controller detects an abnormal driving state of the rotary engagement mechanism, the controller can input a voltage with a preset waveform to the driving component to control the driving component to drive the swing arm assembly to swing between the first and second positions at a preset swing frequency. This allows the rotary engagement mechanism to continuously swing between the first and second positions until the rotary engagement mechanism has a probability of disengaging from the "jammed" state, or manual intervention is required. The continuous swing of the swing arm assembly can increase the swing time of the swing arm assembly per unit time, thereby maximizing the possibility of the rotary engagement mechanism disengaging from the jam.

[0107] In order to drive the rotary engagement mechanism to swing between the first position and the second position, in some embodiments, when the controller detects an abnormal driving state of the rotary engagement mechanism, the controller may also input a voltage of a first preset waveform to the driving component for a preset time, and after stopping for a preset interval time, input a voltage of a second preset waveform to the driving component for a preset time, thereby enabling the rotary engagement mechanism to swing between the first position and the second position for a preset time and then stop, and after stopping for a preset interval time, control the rotary engagement mechanism to swing between the first position and the second position for a preset time with a second preset swing frequency. The preset time and preset interval can be set differently, and the first preset oscillation frequency and the second preset oscillation frequency can be set to the same. For example, in some embodiments, the preset time can be set to 10s, the preset interval to 5s, and the first and second preset oscillation frequencies to 10Hz. When the controller detects an abnormal drive state of the rotating engagement mechanism, it will first control the rotating engagement mechanism to oscillate back and forth between the first and second positions at a oscillation frequency of 10Hz for 10s. After 10s, the controller will control the rotating engagement mechanism to stop oscillating for 5s. After 5s, the controller will control the rotating engagement mechanism to oscillate back and forth between the first and second positions at a oscillation frequency of 10Hz for 10s. Afterward, the controller will use the above drive state as an oscillation cycle. After one oscillation cycle, if the rotating engagement mechanism disengages from the "jammed" state, the controller will control the rotating engagement mechanism to continue executing the drive commands of the loading or unloading mechanism. If the rotating engagement mechanism does not disengage from the "jammed" state, the controller will enter the next oscillation cycle with the same oscillation strategy, or remind the user to intervene manually. The intermittent oscillation of the swing arm assembly at different frequencies allows the controller to adjust the oscillation of the swing arm assembly and automatically match the natural frequency of different swing arm assemblies during the adjustment process, triggering resonance and thereby improving the force and effect of the rotational engagement mechanism's oscillation disengagement.

[0108] Understandably, in other possible implementations, the preset time and interval time can be set to be the same, while the first preset swing frequency and the second preset swing frequency can be set to be different. For example, the preset time and interval time can both be set to 10s, the first preset swing frequency can be set to 10Hz, and the second preset swing frequency can be set to 15Hz. In this case, when the controller detects an abnormality in the drive state of the rotation mechanism, the controller will first control the rotation mechanism to swing back and forth between the first and second positions at a swing frequency of 10Hz for 10s. After 10s, the controller will control the rotation mechanism to stop swinging for 10s. After 10s, the controller will control the rotation mechanism to swing back and forth between the first and second positions at a swing frequency of 15Hz for 10s. This application does not limit the specific setting methods of the preset time, interval time, first preset swing frequency, and second preset swing frequency.

[0109] In addition, in some embodiments, when the controller detects an abnormal driving state of the rotary engagement mechanism, the controller can also input a voltage of a preset waveform to the driving component for a first preset time, and after a preset interval, input the voltage of the preset waveform to the driving component for a second preset time. This allows the rotary engagement mechanism to swing between the first and second positions at a preset oscillation frequency for a first preset time and then stop. After a preset interval, it then swings between the first and second positions at a preset oscillation frequency for a second preset time. The first and second preset times can be the same or different, and the first preset time and the interval can also be the same or different. For example, in some embodiments, the first preset time can be set to 10s, the second preset time to 15s, the interval time to 5s, and the preset oscillation frequency to 10Hz. When the controller detects an abnormal drive state of the rotating engagement mechanism, it will first control the rotating engagement mechanism to oscillate back and forth between the first and second positions at a oscillation frequency of 10Hz for 10s. After 10s, the controller will control the rotating engagement mechanism to stop oscillating for 5s. After 5s, the controller will control the rotating engagement mechanism to oscillate back and forth between the first and second positions at a oscillation frequency of 10Hz for 15s. Afterward, the controller will use the above drive state as an oscillation cycle. After one oscillation cycle, if the rotating engagement mechanism disengages from the "jammed" state, the controller will control the rotating engagement mechanism to continue executing the drive commands of the loading or unloading mechanism. If the rotating engagement mechanism does not disengage from the "jammed" state, the controller will enter the next oscillation cycle with the same oscillation strategy, or remind the user to intervene manually. The intermittent oscillation of the swing arm assembly at different time intervals can balance energy consumption and oscillation effect. The controller can set the preset frequency close to the natural frequency of the swing arm to enable the swing arm assembly to achieve a larger swing amplitude, thereby increasing the possibility of the rotational engagement mechanism disengaging from jamming.

[0110] In other possible implementations, the first preset time can be set to 10 seconds, the second preset time to 10 seconds, the interval time to 10 seconds, and the preset oscillation frequency to 10 Hz. When the controller detects an abnormal driving state of the rotating engagement mechanism, it first controls the rotating engagement mechanism to oscillate back and forth between the first and second positions at an oscillation frequency of 10 Hz for 10 seconds. After 10 seconds, the controller controls the rotating engagement mechanism to stop oscillating for 10 seconds. After 10 seconds, the controller controls the rotating engagement mechanism to oscillate back and forth between the first and second positions at an oscillation frequency of 10 Hz for 10 seconds. Afterward, the controller will use the above driving state as an oscillation cycle. This application does not limit the specific setting of the first preset time, the second preset time, and the interval time.

[0111] It should be noted that the swing arm assembly's oscillation between the first and second positions, as described above, means that when the rotational engagement mechanism's drive state is abnormal, the drive component will drive the swing arm assembly to first swing to the first position, then to the second position or somewhere between the first and second positions, and finally return to the first position, repeating this cycle. Alternatively, it may first swing to the second position, then swing through the second position to the first position or somewhere between the first and second positions, and finally return to the second position, repeating this cycle.

[0112] The preset waveform, the first preset waveform, and the second preset waveform can be sine waves, cosine waves, or other regular or irregular oscillation waveforms; this application does not impose any restrictions on these. In some embodiments, the preset waveform, the first preset waveform, and the second preset waveform are sine waves, and the frequency of the sine wave is Z, where 3Hz≤Z≤30Hz. Under this waveform and frequency limitation, the oscillation frequency of the rotating engagement mechanism is prevented from being too low, thus avoiding the inability to disengage from jamming. This effectively prevents the oscillation frequency of the rotating engagement mechanism from being too high, which would affect the service life of the rotating engagement mechanism. Furthermore, when 5Hz≤Z≤12Hz, the oscillation effect of the rotating engagement mechanism can be further improved, extending the service life of the rotating engagement mechanism.

[0113] When the rotary engagement mechanism oscillates between the first and second positions, it may oscillate towards the first position first and then towards the second position, or vice versa; this application does not impose any limitation on this. In some embodiments, the first and second positions are closer to the feeding mechanism. When the rotary engagement mechanism jams near the feeding mechanism, it first oscillates towards the second position and then towards the first position. That is, when executing the oscillation strategy, the controller first controls the rotary engagement mechanism to oscillate away from the feeding mechanism, and then controls it to oscillate towards the feeding mechanism. This reduces the interference of the feeding mechanism on the oscillation of the rotary engagement mechanism, increases the oscillation space of the rotary engagement mechanism, and improves the possibility of the rotary engagement mechanism escaping jamming through oscillation.

[0114] In some embodiments, the first position may be closer to the unloading mechanism than the second position. When the rotary engagement mechanism jams near the unloading mechanism, it first swings towards the second position and then towards the first position. That is, when executing the swing strategy, the controller first controls the rotary engagement mechanism to swing away from the unloading mechanism, and then controls it to swing towards the unloading mechanism. This reduces the interference of the unloading mechanism on the swing of the rotary engagement mechanism, increases the swing space of the rotary engagement mechanism, and improves the possibility of the rotary engagement mechanism escaping jamming by swinging.

[0115] To increase the probability of escaping jamming using a swinging strategy, in some embodiments, the drive shaft is made of plastic. The distance from the contact point between the loading swing arm and the loading mechanism to the hinge point connecting the loading swing arm and the drive shaft is L1, where 3mm ≤ L1 ≤ 16mm. The distance from the contact point between the unloading swing arm and the unloading mechanism to the hinge point connecting the unloading swing arm and the drive shaft is L2, where 3mm ≤ L2 ≤ 16mm, and further, 5mm ≤ L1 ≤ 12mm and 5mm ≤ L2 ≤ 12mm. Under these material and dimensional constraints, the weight of the rotating engagement mechanism can be reduced, the torque between the loading and unloading swing arms can be decreased, the force required for the swinging rotating engagement mechanism can be reduced, and the swinging effect of the drive component on the swing arm assembly can be improved.

[0116] It should be noted that the controller mentioned above can be a central processing unit (CPU), but it can also be other general-purpose controllers, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0117] The aforementioned memory can be volatile memory or non-volatile memory, or it may include both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

[0118] It should be noted that when the controller is a general-purpose controller, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) is integrated into the controller.

[0119] It should be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

[0120] In addition to the data bus, this bus may also include a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled "bus" in the diagram.

[0121] Please refer to Figure 7 In some embodiments, the 3D printing feeding device, in addition to the controller 1001 and the memory 1005, also includes a communication bus 1002, a user interface 1003, and a network interface 1004. The communication bus 1002 is used to enable communication between these components. The user interface 1003 is mainly used for user data interaction and may include a display screen, an input unit such as a keyboard, and optionally, a standard wired or wireless interface. The network interface is mainly used for data communication with a network server, and the network interface 1004 may optionally include a standard wired or wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 also stores the operating system, network communication module, user interface module, and control program for the rotation and mating mechanism.

[0122] This application also proposes a storage medium storing a swing arm control program, which is executed by a controller to implement the control method of the above-mentioned rotational engagement mechanism.

[0123] In the description of the embodiments of this application, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and other indicators are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0124] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art will understand that all or part of the processes for implementing the above embodiments and equivalent variations made in accordance with the claims of this application are still within the scope of this application.

Claims

1. A control method for a rotary mating mechanism, wherein the rotary mating mechanism is used to drive the loading or unloading mechanism of a 3D printing feeding device, characterized in that, include: Monitor the driving status of the rotating engagement mechanism; When the drive state of the rotation engagement mechanism is abnormal, the rotation engagement mechanism is controlled to swing according to a preset swing strategy; The rotating engagement mechanism includes a swing arm assembly and a drive component. The drive component has an output shaft. The swing arm assembly has a loading position and a unloading position. In the loading position, at least a portion of the swing arm assembly contacts the loading mechanism and is drive-connected to it. In the unloading position, at least a portion of the swing arm assembly contacts the unloading mechanism and is drive-connected to it. The drive component is used to drive the swing arm assembly to move in the loading and unloading positions. The abnormal driving state of the rotational engagement mechanism includes at least one of the following: The swing arm assembly may jam during the swinging process, or the swing arm assembly may become engaged with the loading mechanism or the unloading mechanism and become jammed. The rotational speed of the output shaft of the rotating engagement mechanism is zero; The voltage of the driving component reaches a preset voltage range, which is greater than the rated voltage range of the driving component.

2. The control method for the rotational mating mechanism as described in claim 1, characterized in that, The rotational engagement mechanism has a first position and a second position, and the swinging strategy includes: The rotational engagement mechanism is controlled to continuously oscillate between the first position and the second position at a preset oscillation frequency; or, The rotating engagement mechanism is controlled to swing between the first position and the second position for a preset time at a first preset swing frequency, and then stops. After a preset interval, the rotating engagement mechanism is controlled to swing between the first position and the second position for a preset time at a second preset swing frequency. The first preset swing frequency and the second preset swing frequency may be the same or different; or... The rotating engagement mechanism is controlled to swing between the first position and the second position for a first preset time at a preset swing frequency and then stops. After a preset interval after stopping, the rotating engagement mechanism is controlled to swing between the first position and the second position for a second preset time at a preset swing frequency. The first preset time and the second preset time are set to be the same or different.

3. The control method for the rotational mating mechanism as described in claim 2, characterized in that, Compared to the second position, the first position is closer to the feeding mechanism; The rotating engagement mechanism first swings to the second position, and then swings to the first position.

4. The control method for the rotational mating mechanism as described in claim 2, characterized in that, Compared to the second position, the first position is closer to the feeding mechanism; The rotating engagement mechanism first swings to the second position, and then swings to the first position.

5. The control method for the rotational mating mechanism as described in any one of claims 2-4, characterized in that, The swing arm assembly is movably mounted within the feeding device of the 3D printing equipment; The first position and the second position are located between the loading position and the unloading position, and the driving member is used to drive the swing arm assembly to move between the loading position, the unloading position, the first position and the second position.

6. The control method for the rotational mating mechanism as described in claim 5, characterized in that, The swinging strategy includes: A voltage with a preset waveform is input to the driving component to control the driving component to drive the swing arm assembly to swing between the first position and the second position at a preset swing frequency; or A voltage of a first preset waveform is input to the driving component and maintained for a preset time. After a preset interval, a voltage of a second preset waveform is input to the driving component and maintained for a preset time. The first preset waveform and the second preset waveform may be the same or different. A voltage with a preset waveform is input to the driving device and maintained for a first preset time. After a preset interval, a voltage with a preset waveform is input to the driving device and maintained for a second preset time. The first preset time and the second preset time are set to be the same or different.

7. The control method for the rotational mating mechanism as described in claim 6, characterized in that, The swing arm assembly includes a transmission group and a swing arm, the transmission group being connected between the drive member and the swing arm; the transmission group is used to transmit power from the drive member to drive the swing arm to move between the loading position and the unloading position; When the swing arm moves to the loading position, the swing arm contacts the loading mechanism and is connected to the loading mechanism in a transmission manner; when the swing arm moves to the unloading position, the swing arm contacts the unloading mechanism and is connected to the unloading mechanism in a transmission manner.

8. The control method for the rotational mating mechanism as described in claim 7, characterized in that, The transmission assembly includes a worm gear assembly and a transmission shaft; the swing arm includes a loading swing arm and a unloading swing arm. The drive shaft has a loading connection end and a unloading connection end arranged opposite to each other. The loading connection end is connected to the loading swing arm; the unloading connection end is connected to the unloading swing arm. The worm gear assembly is connected between the transmission shaft and the driving component. The worm gear assembly is used to transmit power to the driving component to drive the transmission shaft to move between the loading position and the unloading position. When the drive shaft moves to the loading position, the transmission assembly contacts the loading mechanism and drives the loading mechanism to move; when the drive shaft moves to the unloading position, the transmission assembly contacts the unloading mechanism and drives the unloading mechanism to move.

9. The control method for the rotational mating mechanism as described in claim 7, characterized in that, The transmission assembly includes a transmission wheel assembly and a transmission shaft; the swing arm includes a loading swing arm and a unloading swing arm. The drive shaft has a loading connection end and a unloading connection end arranged opposite to each other. The loading connection end is connected to the loading swing arm; the unloading connection end is connected to the unloading swing arm. The transmission wheel set is connected between the loading position or the unloading position and the driving component. The transmission wheel set is used to transmit the power of the driving component to drive the transmission shaft to move between the loading position and the unloading position. When the drive shaft moves to the loading position, the drive wheel assembly contacts the loading mechanism and drives the loading mechanism to move; when the drive shaft moves to the unloading position, the drive wheel assembly contacts the unloading mechanism and drives the unloading mechanism to move.

10. The control method for the rotational mating mechanism as described in claim 9, characterized in that, Abnormal driving state of the rotation mechanism includes the following: while the feeding swing arm is in contact with the feeding mechanism, the unloading swing arm is in contact with the unloading mechanism.

11. The control method for the rotational mating mechanism as described in claim 6, characterized in that, The swing arm assembly includes a transmission group and a swing arm. A portion of the swing arm is used to cooperate with the transmission group so that the power of the drive member can be applied to the feeding mechanism to achieve feeding. Another part of the swing arm is used to cooperate with the transmission group so that the power of the drive member can be applied to the unloading mechanism to realize unloading; The driving component includes a first driving component and a second driving component; the transmission assembly includes a transmission shaft and a transmission wheel; the swing arm includes a loading swing arm and a unloading swing arm; the first driving component and the swing arm are drivenly connected; the transmission shaft is connected between the second driving component and the swing arm; and the transmission wheel is disposed on the transmission shaft. When the 3D printing feeding device feeds material, the first driving member drives the feeding swing arm to contact the transmission wheel, and the power of the second driving member is transmitted to the feeding mechanism via the second driving shaft, the transmission wheel and the feeding swing arm to drive the feeding mechanism to feed material. When the 3D printing feeding device is feeding material, the first driving member drives the unloading swing arm to be misaligned with the transmission wheel, and the power of the second driving member is transmitted to the feeding swing arm via the second driving shaft, and drives the feeding mechanism to feed material.

12. The control method for the rotational mating mechanism as described in claim 8 or 9, characterized in that, The drive shaft has an axis, and the material of the drive shaft includes plastic; and / or The distance from the contact point between the feeding swing arm and the feeding mechanism to the hinge point connecting the feeding swing arm and the drive shaft is L1, where 3mm ≤ L1 ≤ 16mm; and / or The distance from the contact point between the unloading swing arm and the unloading mechanism to the hinge point connecting the unloading swing arm and the transmission shaft is L2, where 3mm ≤ L2 ≤ 16mm.

13. The control method for the rotational mating mechanism as described in claim 12, characterized in that, 5mm≤L1≤12mm; 5mm≤L2≤12mm.

14. The control method for the rotational mating mechanism as described in claim 11, characterized in that, The preset waveform is a sine wave, and the frequency of the sine wave is Z, where 3Hz≤Z≤30Hz.

15. The control method for the rotational mating mechanism as described in claim 14, characterized in that, The preset waveform is a sine wave, and the frequency of the sine wave is Z, where 5Hz≤Z≤12Hz.

16. A storage medium, characterized in that, The storage medium stores a swing arm control program, which is executed by the controller to implement the control method of the rotational engagement mechanism as described in any one of claims 1-15.

17. A 3D printing feeding device, characterized in that, The 3D printing feeding device includes a controller and a memory, the memory being used to store computer instructions, and the controller being used to invoke the computer instructions to execute the control method of the rotational mating mechanism as described in any one of claims 1-15.

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